CN114030006B

CN114030006B - Intelligent telescopic structure of mechanical arm

Info

Publication number: CN114030006B
Application number: CN202111336430.7A
Authority: CN
Inventors: 张鹏; 杨贺茗; 杨荔雯
Original assignee: Dalian Jiaotong University
Current assignee: Dalian Jiaotong University
Priority date: 2021-11-12
Filing date: 2021-11-12
Publication date: 2023-04-25
Anticipated expiration: 2041-11-12
Also published as: CN114030006A

Abstract

The invention discloses an intelligent telescopic structure of a mechanical arm, which comprises a stable base, wherein the upper end of the stable base is fixedly connected with a mounting cover, the upper end of the mounting cover is fixedly connected with a motor fixing plate, the upper end of the motor fixing plate is connected with a first transmission motor, the output end of the first transmission motor is connected with a first driving wheel, the upper end of the mounting cover is connected with a limiting cylinder, the upper end of the limiting cylinder is provided with a rotating block, the outer side of the rotating block is provided with a protective cover, the lower end of the rotating block is connected with a first driven wheel which penetrates through the limiting cylinder, and one side of the rotating block is connected with a deflection motor. According to the invention, the connecting rotating block is utilized to enable the connecting rotating shaft not to directly control the overturning of the telescopic cylinder, the spacing slide bar on the connecting rotating block is utilized to be matched with the telescopic cylinder to enable the distance between the telescopic cylinder and the connecting rotating block to be adjustable, so that the telescopic range of the mechanical arm telescopic mechanism can be controlled, and when the connecting rotating block is mutually attached with the telescopic cylinder, the telescopic cylinder is controlled to stretch so as to meet the requirement of the maximum telescopic range, and vice versa.

Description

Intelligent telescopic structure of mechanical arm

Technical Field

The invention relates to the technical field of mechanical arms, in particular to an intelligent telescopic structure of a mechanical arm.

Background

In recent years, with the development of robot technology, a robot structure employing high speed, high precision, and high load-to-weight ratio has received attention in the industrial and aerospace fields. Due to the increase of the flexible effect of the joints and the connecting rods in the movement process, the structure is deformed, so that the precision of task execution is reduced. Therefore, the structural flexibility of the mechanical arm of the robot must be considered, and the dynamic characteristics of the system must be considered to realize the high-precision and effective control of the flexible mechanical arm. The flexible mechanical arm is a very complex dynamic system, and a dynamic equation of the flexible mechanical arm has the characteristics of nonlinearity, strong coupling, real change and the like. While the flexible arm dynamics problem is studied, the establishment of a model is extremely important. The flexible mechanical arm is not only a rigid-flexible coupled nonlinear system, but also a nonlinear system in which the dynamic characteristics and the control characteristics of the system are coupled with each other, namely, the system is mechanically and electrically coupled. The dynamic modeling aims to provide basis for control system description and controller design. The general control system description is closely related to the positioning of the sensors and actuators, the transfer of information from actuator to sensor, and the dynamics of the robotic arm. The flexible mechanical arm dynamics equation is established mainly by using two most representative equations, namely Lagrange equation and Newton-Euler equation. In addition, the common methods include a variation principle, a virtual displacement principle and a Kane equation. And the description of the deformation of the flexible body is the basis of modeling and control of the flexible mechanical arm system. Therefore, a certain mode is selected to describe the deformation of the flexible body, and meanwhile, the description of the deformation is closely related to the solving of the system dynamics equation. The mechanical arm refers to a complex system with high precision, multiple inputs and multiple outputs, high nonlinearity and strong coupling. Because of its unique operational flexibility, it has been widely used in the fields of industrial assembly, safety explosion protection, etc. The mechanical arm is a complex system, and uncertainty such as parameter perturbation, external interference, unmodeled dynamics and the like exists. Therefore, the modeling model of the mechanical arm also has uncertainty, and for different tasks, the motion trail of the joint space of the mechanical arm needs to be planned.

The arm joint is fixed structure in the common arm, can only operate in fixed scope, can't carry out the regulation of scope for the operation of arm has the limitation, does not satisfy the complicated operation demand in the mill today, for the size of increase scope, needs to install telescopic structure additional on the arm, for example flexible cylinder structure, but flexible cylinder is mostly fixed connection on the arm, lacks the adjustability.

Disclosure of Invention

The invention aims at: in order to solve the problems, the intelligent telescopic structure of the mechanical arm is provided.

In order to achieve the above purpose, the present invention adopts the following technical scheme:

the utility model provides an intelligent telescopic structure of arm, includes stable base, stable base upper end fixedly connected with installation lid, installation lid upper end fixedly connected with motor fixing plate, motor fixing plate upper end is connected with drive motor one, drive motor one output is connected with action wheel one, installation lid upper end is connected with spacing section of thick bamboo, spacing section of thick bamboo upper end is provided with the rotatory piece, the rotatory piece outside is provided with the protection casing, rotatory piece lower extreme connection runs through spacing section of thick bamboo and is connected with from driving wheel one, rotatory piece one side is connected with deflection motor, deflection motor output runs through rotatory piece fixedly connected with rotation weight wheel, rotation weight wheel fixedly connected with swing arm, swing arm one side is connected with drive motor two, drive motor two output is connected with action wheel two, swing arm one side is provided with the lifting arm, lifting arm one side fixedly connected with is driven wheel two, the lifting arm is connected with the pivot through being connected with, set up the storage tank in the lifting arm one side is connected with drive motor three, three output ends of drive motor are connected with rotation shaft three through storage tank, three pivot fixedly connected with pivot three pivot connection.

Preferably, the telescopic machanism includes flexible cylinder, flexible cylinder one end is connected with the telescopic link, flexible cylinder one side is provided with the connection commentaries on classics piece, connection commentaries on classics piece outside symmetry is connected with the connection pivot, the telescopic link runs through connection commentaries on classics piece fixedly connected with connection pad, the connection pad is connected with the sucking disc frame.

Preferably, the spacing slide bar of connection commentaries on classics piece one side fixedly connected with, spacing slide bar is provided with four, sliding connection spacing slide bar on the telescopic cylinder, two spacing slide bar is with telescopic link central symmetry slip setting in the telescopic cylinder, and other two spacing slide bar is with telescopic link central symmetry slip setting in the telescopic cylinder outside.

Preferably, the first driving wheel and the first driven wheel are arranged in the stable base, the first driving wheel and the first driven wheel are connected through a chain, the second driving wheel and the second driven wheel are arranged in the swing arm, the second driving wheel and the second driven wheel are connected through a chain, a side protection plate is arranged on one side of the third driving wheel, and the third driving wheel and the third driven wheel are connected through a chain.

Preferably, two connecting plates are arranged, the telescopic cylinder is arranged between the two connecting plates, and the accommodating groove is mutually matched with the telescopic cylinder.

Preferably, one side of the lifting arm is connected with a lower turnover shaft, the lower turnover shaft is connected with a clamping rod, and one side of the clamping rod is mutually matched with the connecting disc.

In summary, due to the adoption of the technical scheme, the beneficial effects of the invention are as follows:

1. this application is through adopting multistage action wheel and follow driving wheel transmission structure, and independent operation, each action wheel between the noninterference, effectively guarantees the operating efficiency of arm, utilizes multiunit driving motor to drive multiunit action wheel and accomplishes the transmission of power, and a set of action wheel drives the less follow driving wheel operation of a set of diameter, reduces the load of motor, improves the efficiency of structural variation.

2. This application is through adopting the connection commentaries on classics piece structure, utilizes the connection commentaries on classics piece to make the connection pivot not the upset of the flexible cylinder of direct control, utilizes the spacing slide bar cooperation flexible cylinder on the connection commentaries on classics piece to make flexible cylinder and connect the flexible scope of flexible mechanism of arm adjustable between the commentaries on classics piece, when connection commentaries on classics piece and flexible cylinder are mutually pasted, the flexible demand that can reach flexible scope of control flexible cylinder is flexible vice versa.

Drawings

Fig. 1 shows a schematic structural diagram of an entire mechanical arm according to an embodiment of the present invention;

FIG. 2 shows a schematic view of the structure within a stabilization base provided in accordance with an embodiment of the present invention;

FIG. 3 illustrates a schematic diagram of the structure within a swing arm provided in accordance with an embodiment of the present invention;

FIG. 4 shows a schematic view of the structure within a side shield provided in accordance with an embodiment of the present invention;

fig. 5 shows a schematic structural view of a locking lever according to an embodiment of the present invention;

fig. 6 shows a schematic structural diagram of a joint of a limit slide bar according to an embodiment of the present invention.

Legend description:

1. a stable base; 2. a mounting cover; 3. a motor fixing plate; 4. a first transmission motor; 5. a limiting cylinder; 6. a rotating block; 7. a protective cover; 8. a deflection motor; 9. a transmission motor II; 10. a swing arm; 11. a lifting arm; 12. a storage groove; 13. a transmission motor III; 14. a side shield; 15. a connecting plate; 16. a telescopic cylinder; 17. the connecting rotating shaft; 18. a telescopic rod; 19. a connecting disc; 20. a suction cup holder; 21. a first driving wheel; 22. a driven wheel I; 23. rotating the heavy wheel; 24. a driving wheel II; 25. a driven wheel II; 26. a driving wheel III; 27. a driven wheel III; 28. a lower turning shaft; 29. a clamping rod; 30. a connecting rotating block; 31. and a limit slide bar.

Detailed Description

The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.

Referring to fig. 1-6, the present invention provides a technical solution:

the utility model provides an intelligent telescopic structure of arm, including stabilizing base 1, stabilizing base 1 upper end fixedly connected with installation lid 2, installation lid 2 upper end fixedly connected with motor fixed plate 3, motor fixed plate 3 upper end is connected with driving motor one 4, driving motor one 4 output is connected with action wheel one 21, installation lid 2 upper end is connected with spacing section of thick bamboo 5, spacing section of thick bamboo 5 upper end is provided with rotatory piece 6, the rotatory piece 6 outside is provided with protection casing 7, rotatory piece 6 lower extreme is connected with from driving wheel one 22, rotatory piece 6 one side is connected with deflection motor 8, deflection motor 8 output runs through rotatory piece 6 fixedly connected with rotation weight wheel 23, rotation weight wheel 23 fixedly connected with swing arm 10, swing arm 10 one side is connected with driving motor two 9, driving motor two 9 output is connected with action wheel two 24, swing arm 10 one side is provided with lifting arm 11, lifting arm 11 one side is fixedly connected with from driving wheel two 25, lifting arm 11 is connected with connection pivot 17 through connecting plate 15, the interior storage tank 12 that has seted up of lifting arm 11 one side is connected with driving motor three 13, three storage tank 13 output ends are connected with from driving wheel 17, three rotation shaft 17 fixedly connected with from driving wheel 17, three side is connected with three rotation shaft 17, three telescopic connection mechanism is connected with from driving wheel 17. The telescopic mechanism comprises a telescopic cylinder 16, one end of the telescopic cylinder 16 is connected with a telescopic rod 18, one side of the telescopic cylinder 16 is provided with a connecting rotating block 30, the outer side of the connecting rotating block 30 is symmetrically connected with a connecting rotating shaft 17, the telescopic rod 18 penetrates through the connecting rotating block 30 and is fixedly connected with a connecting disc 19, and the connecting disc 19 is connected with a sucker frame 20. One side of the connecting rotating block 30 is fixedly connected with limiting slide bars 31, the limiting slide bars 31 are provided with four limiting slide bars 31 which are connected with the telescopic cylinder 16 in a sliding mode, two limiting slide bars 31 are arranged in the telescopic cylinder 16 in a sliding mode with respect to the center of the telescopic rod 18 in a symmetrical mode, and the other two limiting slide bars 31 are arranged outside the telescopic cylinder 16 in a sliding mode with respect to the center of the telescopic rod 18 in a symmetrical mode. The first driving wheel 21 and the first driven wheel 22 are arranged in the stable base 1, the first driving wheel 21 and the first driven wheel 22 are connected through a chain, the second driving wheel 24 and the second driven wheel 25 are arranged in the swing arm 10, the second driving wheel 24 and the second driven wheel 25 are connected through a chain, one side of the third driving wheel 26 is provided with a side protection plate 14, and the third driving wheel 26 and the third driven wheel 27 are connected through a chain. The connecting plates 15 are two, the telescopic cylinder 16 is arranged between the two connecting plates 15, and the accommodating groove 12 is mutually matched with the telescopic cylinder 16. A lower turning shaft 28 is connected to one side of the lifting arm 11, and an engaging rod 29 is connected to the lower turning shaft 28, and one side of the engaging rod 29 is engaged with the connecting disc 19.

Specifically, as shown in fig. 1, an intelligent telescopic structure of a mechanical arm comprises a stable base 1, wherein the upper end of the stable base 1 is fixedly connected with a mounting cover 2, the upper end of the mounting cover 2 is fixedly connected with a motor fixing plate 3, the upper end of the motor fixing plate 3 is connected with a first transmission motor 4, the output end of the first transmission motor 4 is connected with a first driving wheel 21, the upper end of the mounting cover 2 is connected with a limiting cylinder 5, the upper end of the limiting cylinder 5 is provided with a rotating block 6, the outer side of the rotating block 6 is provided with a protective cover 7, the lower end of the rotating block 6 is connected with a first driven wheel 22 penetrating through the limiting cylinder 5, one side of the rotating block 6 is connected with a deflection motor 8, the output end of the deflection motor 8 penetrates through the rotating block 6 and is fixedly connected with a heavy rotating wheel 23, the heavy rotating wheel 23 is fixedly connected with a swinging arm 10, one side of the swinging arm 10 is connected with a second transmission motor 9, and the output end of the second transmission motor 9 is connected with a second driving wheel 24, swing arm 10 one side is provided with the lifting arm 11, lifting arm 11 one side fixedly connected with follows driving wheel two 25, lifting arm 11 is connected with through connecting plate 15 and connects pivot 17, set up in the lifting arm 11 and accomodate groove 12, lifting arm 11 one side is connected with three 13 of driving motor, three 13 output of driving motor runs through and accomodates groove 12 and be connected with the action wheel three 26, connect pivot 17 one side fixedly connected with follow driving wheel three 27, it is connected with telescopic machanism to connect pivot 17, utilize telescopic machanism's flexible scope to adjust as required, when needs are adjusted, control block lever 29 upper opening part and connection pad 19 mutually block, flexible cylinder 16 is flexible again, can carry out the regulation of the distance between connection turning block 30 and the flexible cylinder 16, control mechanical arm's flexible scope is adjusted promptly, satisfy different production demands, the structure has rationality.

Specifically, as shown in fig. 5, the telescopic mechanism comprises a telescopic cylinder 16, one end of the telescopic cylinder 16 is connected with a telescopic rod 18, one side of the telescopic cylinder 16 is provided with a connecting rotating block 30, the outer side of the connecting rotating block 30 is symmetrically connected with a connecting rotating shaft 17, the telescopic rod 18 penetrates through the connecting rotating block 30 and is fixedly connected with a connecting disc 19, and the connecting disc 19 is connected with a sucker frame 20. One side of the connecting rotating block 30 is fixedly connected with limiting slide bars 31, the limiting slide bars 31 are provided with four limiting slide bars 31 which are connected with the telescopic cylinder 16 in a sliding mode, two limiting slide bars 31 are arranged in the telescopic cylinder 16 in a sliding mode with respect to the center of the telescopic rod 18 in a symmetrical mode, the other two limiting slide bars 31 are arranged outside the telescopic cylinder 16 in a sliding mode with respect to the center of the telescopic rod 18 in a symmetrical mode, the connecting rotating block 30 is used for enabling the connecting rotating shaft 17 to not directly control the telescopic cylinder 16 to overturn, the limiting slide bars 31 on the connecting rotating block 30 are matched with the telescopic cylinder 16 to enable the distance between the telescopic cylinder 16 and the connecting rotating block 30 to be adjustable, the telescopic range of the mechanical arm telescopic mechanism can be controlled, when the connecting rotating block 30 and the telescopic cylinder 16 are mutually attached, the telescopic cylinder 16 is controlled to stretch out and draw back, and draw back of the telescopic range can reach the maximum requirement, and vice versa.

Specifically, as shown in fig. 3, a first driving wheel 21 and a first driven wheel 22 are arranged in the stable base 1, the first driving wheel 21 and the first driven wheel 22 are connected through a chain, a second driving wheel 24 and a second driven wheel 25 are arranged in the swing arm 10, the second driving wheel 24 and the second driven wheel 25 are connected through a chain, a side protection plate 14 is arranged on one side of a third driving wheel 26, and the third driving wheel 26 and the third driven wheel 27 are connected through a chain. The connecting plates 15 are two, the telescopic cylinder 16 is arranged between the two connecting plates 15, and the accommodating groove 12 is mutually matched with the telescopic cylinder 16. The lifting arm 11 one side is connected with down the trip shaft 28, and down the trip shaft 28 is connected with block pole 29, mutually agrees between block pole 29 one side and the connection pad 19, adopts multistage action wheel and from driving wheel transmission structure, and independent operation between each action wheel, mutually noninterferes, effectively guarantees the operating efficiency of arm, utilizes multiunit driving motor to drive multiunit action wheel and accomplishes the transmission of power, and a set of action wheel drive a set of less follow driving wheel operation of diameter, reduces the load of motor, improves the efficiency of structural variation.

In summary, compared with the traditional mechanical arm, the intelligent telescopic structure of the mechanical arm provided by the embodiment has adjustability in structure, the telescopic cylinder 16 structure which is not fixedly connected is utilized to replace the traditional fixed structure, the adjustable pick-up range of the mechanical arm is realized, the structure has rationality, and when the equipment stops running, the controllable clamping rod 29 rotates around the lower turnover shaft 28, so that the clamping rod 29 can be clamped with the connecting disc 19, the telescopic cylinder 16 is controlled to extend, the telescopic cylinder 16 can be placed in the storage groove 12, the protection of the telescopic cylinder 16 is completed, and the durability of the equipment is improved.

The previous description of the embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. The intelligent telescopic structure of the mechanical arm comprises a stable base (1), and is characterized in that the upper end of the stable base (1) is fixedly connected with a mounting cover (2), the upper end of the mounting cover (2) is fixedly connected with a motor fixing plate (3), the upper end of the motor fixing plate (3) is connected with a first transmission motor (4), the output end of the first transmission motor (4) is connected with a first driving wheel (21), the upper end of the mounting cover (2) is connected with a limiting cylinder (5), the upper end of the limiting cylinder (5) is provided with a rotating block (6), the outer side of the rotating block (6) is provided with a protective cover (7), the lower end of the rotating block (6) is connected with a first driven wheel (22), one side of the rotating block (6) is connected with a deflection motor (8), the output end of the deflection motor (8) is connected with a second rotation heavy wheel (23), one side of the swing arm (10) is connected with a second transmission motor (9), the second driving wheel (9) is connected with a second driving wheel (24), one side of the swing arm (11) is connected with a second driving wheel (25), the lifting arm (11) is connected with a connecting rotating shaft (17) through a connecting plate (15), a storage groove (12) is formed in the lifting arm (11), a transmission motor III (13) is connected to one side of the lifting arm (11), a driving wheel III (26) is connected to the output end of the transmission motor III (13) in a penetrating mode through the storage groove (12), a driven wheel III (27) is fixedly connected to one side of the connecting rotating shaft (17), and a telescopic mechanism is connected to the connecting rotating shaft (17).

2. The intelligent telescopic structure of the mechanical arm according to claim 1, wherein the telescopic mechanism comprises a telescopic cylinder (16), one end of the telescopic cylinder (16) is connected with a telescopic rod (18), one side of the telescopic cylinder (16) is provided with a connecting rotating block (30), the outer side of the connecting rotating block (30) is symmetrically connected with a connecting rotating shaft (17), the telescopic rod (18) penetrates through the connecting rotating block (30) and is fixedly connected with a connecting disc (19), and the connecting disc (19) is connected with a sucker frame (20).

3. The intelligent telescopic structure of the mechanical arm according to claim 2, wherein one side of the connecting rotating block (30) is fixedly connected with limiting slide bars (31), four limiting slide bars (31) are arranged, the limiting slide bars (31) are connected to the telescopic cylinder (16) in a sliding mode, two limiting slide bars (31) are arranged in the telescopic cylinder (16) in a sliding mode with respect to the center of the telescopic rod (18) in a symmetrical mode, and the other two limiting slide bars (31) are arranged outside the telescopic cylinder (16) in a sliding mode with respect to the center of the telescopic rod (18) in a symmetrical mode.

4. The intelligent telescopic structure of the mechanical arm according to claim 3, wherein the driving wheel I (21) and the driven wheel I (22) are arranged in the stable base (1), the driving wheel I (21) and the driven wheel I (22) are connected through a chain, the driving wheel II (24) and the driven wheel II (25) are arranged in the swinging arm (10), the driving wheel II (24) and the driven wheel II (25) are connected through a chain, a side protection plate (14) is arranged on one side of the driving wheel III (26), and the driving wheel III (26) and the driven wheel III (27) are connected through a chain.

5. The intelligent telescopic structure of the mechanical arm according to claim 4, wherein two connecting plates (15) are arranged, the telescopic cylinder (16) is arranged between the two connecting plates (15), and the accommodating groove (12) and the telescopic cylinder (16) are mutually matched.

6. The intelligent telescopic structure of the mechanical arm according to claim 5, wherein one side of the lifting arm (11) is connected with a lower turnover shaft (28), the lower turnover shaft (28) is connected with a clamping rod (29), and one side of the clamping rod (29) is mutually matched with the connecting disc (19).